Iterative Learning Control With Data-Driven-Based Compensation

The robust iterative learning control (RILC) can deal with the systems with unknown time-varying uncertainty to

track a repeated reference signal. However, the existing robust designs consider all the possibilities of uncertainty, which makes the design conservative and causes the controlled process converging to the reference trajectory slowly. To eliminate this weakness, we propose a data-driven method. The new design intends to employ more information from the past input–output data to compensate for the robust control law and then to improve performance. The proposed control law is proved to guarantee convergence and accelerate the convergence rate. Ultimately, the experiments on a robot manipulator have been conducted to verify the good convergence of the trajectory errors under the control of the proposed method.

Experiment of drawing the curves with the robot arm

The block diagram of the ILC-DDC(Iterative learning control with data-driven-based compensation)

Tracking trajectories in 3-D space at different trials for the line function

Tracking trajectories in 3-D space at different trials for the sine function

Tracking trajectories in 3-D space at different trials for the letter "alpha"